Vehicle safety system having methods and apparatus configurable for various vehicle geometries

ABSTRACT

Methods and apparatus for automatically adjusting the angle of a rotatable side view mirror of an articulated tractor and trailer includes transducers attached to the tractor for transmitting signals toward the trailer and for receiving signals reflected by the trailer. The transducers have a substantially symmetrical arrangement about a centerline of a linear transducer bar attached to the tractor and each has an angular orientation substantially dissimilar to adjacent transducers on a same side of the centerline. A control circuit sequentially activates ones of the transducers such that only a single transducer transmits signals at any given time. Thereafter, the control circuit only processes reflected signals received by the emitting transducer. The control circuit calculates an angle between the tractor and trailer and causes the mirrors to rotate. Transducer calibration and mirror adjustment relative to a zero position set by a driver are also contemplated.

This application claims priority as a divisional application of U.S.application Ser. No. 10/729,788 filed on Dec. 5, 2003, entitled “VehicleSafety System having Methods and Apparatus Configurable for VariousVehicle Geometries.”

BACKGROUND OF THE INVENTION

1. Technical Field

The present invention relates generally to a vehicle safety system and,particularly, to a system which provides a driver with views and/orinformation regarding the area around a vehicle. More particularly, itrelates to automatic adjusting of side view mirrors of articulatedvehicles such as tractor trailers. In one aspect, the inventioncontemplates calculating an angle between a tractor and trailer andadjusting the mirrors accordingly. In another aspect, the inventioncontemplates a transducer bar and control therefor.

2. Description of the Related Art

The maneuvering ability of articulated vehicles such as tractor-trailercombinations is often hampered by the difficulty in quickly andconveniently determining the location of the rear end of the trailer andin viewing the area behind the rear end of the trailer. This isparticularly so when the trailer is long and the tractor is turning awayfrom the driver, e.g., toward the right. Typically, externally mountedside mirrors are placed on both sides of the tractor. These mirrors arerigidly positioned for straight ahead driving. Therefore, during turns,one mirror provides a view of the side of the trailer while the othermirror provides a view of the area to the side of the trailer. Neitherof these views is useful. The much needed view of the rear of thetrailer is not provided.

Although the driver can view the left rear end of the trailer and behindit by looking out the left window when the trailer is turning toward theleft, the driver must turn his head and divert his attention away fromthe front of the vehicle. The driver's peripheral vision may not provideimmediate perception of events occurring at the front of the vehicle.Moreover, the driver is unable to peer out the right window and view theright rear end of the trailer during a right turn. Stationary mirrorsare also deficient when a tractor-trailer is backing into a loading orunloading area such as a dock during an attempt to park. In thesesituations, the tractor is almost always at an acute angle relative tothe trailer to facilitate docking maneuvers. Stationary mirrors do notpermit the rear of the trailer to be viewed during parking as the anglebetween the tractor and the trailer does not permit such a view. It isoften necessary for the driver to leave the vehicle or to obtain theassistance of an additional person to perform the backing and parkingmaneuvers.

In view of these problems, numerous attempts have been made to provide amirror which pivots or rotates to provide a view of the rear of atrailer during turns. Some of these prior art systems are disclosed inU.S. Pat. Nos. 2,988,957; 3,469,901; 3,527,528; 3,536,382; 3,749,480;4,609,265; and 4,632,525. Many of these devices require complexmechanical devices with or without complicated electric circuits torotate the side mirrors. Some devices are activated only by the turnsignal of the vehicle.

In other prior art, tractors become equipped with a transducer bar thathas multiple transducers emitting signals towards an attendant trailer.Based upon signals reflected from the trailer, and received bytransducers of the transducer bar, an angle between the tractor andtrailer is calculated and side-view mirrors or spotlights becomeadjusted accordingly. With these, however, the adjustment systemsutilize mathematically fixed look-up tables (LUT's) optimized for aspecific orientation (i.e., fixed length) between the tractor andtrailer. LUT's also typically require collecting data from empiricaltesting which is labor intensive, especially if multiple LUT's arerequired for multiple tractor-trailer orientations. Some of thesesystems also require complex algorithms that cross-reference signalsreceived by one transducer with signals received by another transducer.

In addition, transducer bars of the prior art often do not have asymmetrical orientation, which can complicate manufacturing, or theyhave exact angular orientation between adjacent transducers, whichsuppresses robustness during tractor-trailer angular computations.

Accordingly, the art of providing vehicular safety systems, especiallythe adjustment of mirrors or other equipment in accordance with an anglebetween a tractor and trailer, has need for robustness to accommodatediffering tractor-trailer orientations and ease of manufacturing.

SUMMARY OF THE INVENTION

According to one embodiment of the instant invention, an apparatus forautomatically adjusting the angle of a rotatable side view mirror of anarticulated tractor and trailer includes transducers attached to thetractor for transmitting signals toward the trailer and for receivingsignals reflected by the trailer. The transducers have a substantiallysymmetrical arrangement about a centerline of a linear transducer barattached to the tractor and each has an angular orientationsubstantially dissimilar to adjacent transducers on a same side of thecenterline. A control circuit sequentially activates ones of thetransducers such that only a single transducer transmits signals at anygiven time. Thereafter, the control circuit only processes reflectedsignals received by the emitting transducer. The control circuitcalculates an angle between the tractor and trailer and causes themirrors to rotate accordingly.

In other embodiments, methods include activating ones of the transducersin sequence from left-to-right or right-to-left in a total period ofabout 60 msec. Methods also include calibrating the transducers at atime when the tractor and trailer have a zero angle there between. Oncea driver sets a desired zero position of the mirrors, the mirror becomesrotated from the zero position by an amount calculated after thetractor-trailer angle is known.

Transducer bars for attachment to the tractor include six transducerssymmetrically arranged about a centerline wherein two transducers eachoccupy a terminal end and two transducers exist substantially near thecenterline. Two more transducers reside on the bar between thecenterline transducers and the terminal end transducers. The centerlineor innermost transducers have an angular orientation relative to thetransducer bar opposite the remaining transducers. In one embodiment,the two innermost transducers have angular orientations of abouteighty-three degrees away from the centerline. The two terminal end oroutermost transducers have angular orientations of about fifty-sixdegrees toward the centerline while the intermediate transducers haveangular orientations of about sixty-nine degrees toward the centerline.The intermediate transducers exist much closer in distance to theoutermost transducers as compared to the innermost transducers.

Various additional advantages and features which characterize theinvention are further pointed out in the claims that follow. However,for a better understanding of the invention and its advantages,reference should be made to the accompanying drawings and descriptivematter which illustrate and describe the instant invention.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A, 1B, 1C, and ID provide various views of an articulated vehicleincluding a tractor 15 and a trailer 20 and which is equipped with thevehicle safety system of the instant invention;

FIG. 2 is front view of the trailer 20 of FIG. 1;

FIG. 3 is a block diagram of the vehicle safety system of the instantinvention;

FIG. 4 is a diagram of control panel 70 of control unit 62 shown in FIG.3;

FIG. 5 is a diagram illustrating rotating mirror 32 and associated driveunit 78 for rotating mirror 32;

FIG. 6 illustrates a preferred range of rotation of rotating mirror 32;

FIG. 7 illustrates the operation of transducers of a transducer bar fordetermining an angle between tractor 15 and trailer 20;

FIG. 8 is a diagram illustrating an arrangement of the transducer barshown in FIG. 7;

FIG. 9 is a flow chart setting forth a process for adjusting mirrors ofthe tractor;

FIG. 10 is a partial top planar diagram setting forth the geometriesbetween a tractor and trailer during calibration of the transducers ofthe transducer bar;

FIG. 11 is a diagram of a representative example of the inventionsetting forth the geometries between the tractor and trailer of FIG. 10when the tractor is angled about sixty degrees to the left of thetrailer;

FIG. 12 is a partial top planar diagram of a representative example ofthe invention setting forth the geometries between a tractor angledabout eighty degrees to the right of a trailer to allow calculation of amirror position relative to a zero mirror position set by a driver;

FIG. 13 is a representative configuration of the control circuit of FIG.3, for example, embodied with a MOTOROLA microcontroller having modelnumber 68HC912D60A; and

FIG. 14 is a representative configuration of a sole transducer able totransmit and receive signals in accordance with the present invention.

DETAILED DESCRIPTION

FIGS. 1A, 1B, 1C, and ID illustrate an articulated vehicle 10 having atrailer 20 coupled to a tractor 15 and which is equipped with thevehicle safety system of the instant invention. FIG. 1A is a left sideview of articulated vehicle 10; FIG. 1B is a right side view ofarticulated vehicle 10; FIG. 1C is a rear view of articulated vehicle10; and FIG. 1D is an upper plan view of a portion of articulatedvehicle 10. FIG. 2 is a front view of trailer 20 having a trailer width,tw. Typical trailer widths in use today include eight feet and eightfeet six inches. Although the vehicle safety system of the instantinvention will be described below in terms of its application to anarticulated vehicle and, in particular, to a tractor-trailercombination, it will be readily apparent that the various features ofthe invention are not limited in this respect. Other applicationsinclude articulated cars of a train, towed and towing vehicle, car andcamper, truck and boat, and tug-boat and tugged-boat to name a few.

FIGS. 1A, 1B, IC, and ID illustrate a tractor-trailer combination whichincludes a tractor 15 having a fifth wheel 22 and which is coupled totrailer 20 in a conventional manner. First and second rotatable sideview mirrors 32 and 34 are secured to the cab of tractor 15. Mirrors 32and 34 provide a driver with driver's side and passenger's side views,respectively, and the driver sets each to a desired position knownhereinafter as a zero position. Of course, tractors configured for usein European countries, for example, are outfitted with a driver'sposition opposite that shown.

At a position aft of the cab 27 of the tractor, the tractor-trailercombination is equipped with a plurality of transducers, preferably on atransducer bar. The transducers transmit and receive signals such asultrasonic signals which are used in the determination of the anglebetween the tractor and the trailer as will be described in detailbelow. With reference to FIG. 1D, transducers 1-6 attach to a transducerbar 38 for use in determining an angle between tractor 15 and trailer20, whereby rotatable mirrors 32 and 34 may be appropriately rotated. Asillustrated, the angle between the tractor and trailer is zero degrees.That is, the left and right side panels 44, 45 of the trailer aregenerally parallel with the left and right sides 7, 9 of the tractor.The transducer bar 38 is attached to the back of tractor 15 and ispreferably mounted relatively close to the plane of fifth wheel 22 oftractor 15, generally parallel to the ground, to ensure that a giventractor can be utilized with many different types and sizes of trailers.It will of course be appreciated that the location of transducer bar 38may be modified as appropriate for a particular type of tractor 15and/or trailer 20. Transducer bar 38 may be surface mounted or recessedinto the back of tractor 15 as indicated by arrows 11. In a currentembodiment, transducer bar 38 is spaced a distance D (alternatively,labeled distance “Ho” in FIG. 10) in a range of forty to fifty-threeinches from the front panel 46 of trailer 20, although it will beevident that the invention is not limited in this respect. Trailer 20 isillustrated as having a trailer width, tw, of either eight (8′0″) feetor eight feet, six inches (8′6″), although it will again be evident thatthe invention is not limited in this respect. While the use of atransducer bar is convenient, it will be appreciated that the inventionis not limited in this respect and the transducers may, for example, bedirectly mounted on tractor 15.

FIG. 3 is a system block diagram of the vehicle safety system inaccordance with the instant invention. The first 1, second 2, third 3,fourth 4, fifth 5 and sixth 6 transducers of the transducer bar 38couple to a control unit 62 over respective communication paths 64 a-64g. Communication paths 64 a-64 g may be wired or wireless communicationpaths and the invention is not limited in this respect. In someembodiments, a junction box 65 may intercede between the transducer barand the control unit 62 to offer additional user convenience. A powersource 66 supplies power over power line 68 to control unit 62. Powersource 66 may, for example, be the electrical system of the vehicle oran external battery. If it is desired to operate the apparatus on avoltage lower than that supplied by the vehicle, a voltage loweringdevice such as a transformer, a resistor or a zener diode may be placedbetween the power source and control unit 62. Alternatively, areplaceable internal battery 68 may be included in control unit 62. Acontrol panel 70 provides an interface with control unit 62 for thedriver. A display 72 is used to visually communicate information to thedriver. If desired, a speaker (not shown) may also be provided toaurally communicate information to the driver. Control unit 62 includesa control circuit 74 such as a microprocessor which controls transducers1-6 and display 72 and which processes driver inputs which are input viacontrol panel 70. Control circuit 74 may, for example, be amicrocontroller such as a model 68HC912D60A available from MOTOROLA.Other microcontrollers which may be utilized with the control circuit 74include a Z-80 available from Zilog or an A51 or HD647180 from Hitachior any other known or hereinafter developed microcontroller.

When the MOTOROLA product is used (e.g., FIG. 13), the micro-controller130 preferably features 60K of FLASH program memory and is available ina 112-pin TQFP package 132. The micro-controller becomes programmedinitially with a RS-232 boot-loader available on the MOTOROLA website.This boot-loader allows reprogramming via a standard RS-232 serialcable. In use, the boot-loader initially loads on a blank HC12 using aTechnological Arts microBDM12DX pod. As skilled artisans understand, theboot-loader is only necessary for development programming. In order forthe HC12 to operate correctly, a variety of support circuitry componentsare generally required. The first of these components is a supervisorcircuit that ensures that the micro-controller resets upon power-up. OneIC applicable for this task includes a Microchip MCP120-450DI thatfeatures a reset trip voltage of 4.5 V. In order to guarantee a stablepower supply, each pair of power pins on the HC12 can be decoupled usinga 0.1 uF tantalum capacitor. A useful oscillator circuit for the HC12includes an 8 MHz crystal and phase-locked-loop (PLL) filter. The PLLfilter makes the oscillator circuit much more stable and it isrecommended by the manufacturer.

Again, with reference to FIG. 3, a memory 76 (internal or external tothe microcontroller) stores operating programs and other informationwhich are used by control circuit 74. The operating programs arepreferably factory-loaded and include a routine for generating mirrorcontrol signals for appropriately rotating mirrors 32, 34 in accordancewith information which is supplied from the transducers 1-6 as will bedescribed below. Drive units 78 and 80, preferably in the form of servo-or stepper-motors, DC motors and attendant gearing, receive the mirrorcontrol signals and appropriately rotate mirrors 32 and 34,respectively. The mirror control signals are preferably supplied to thedrive units over wired communication paths, but wireless communicationpaths may also be used. As will be discussed below, the programs storedin memory 76 also include routines for using the information suppliedfrom the transducers to provide information to the driver regarding theorientation of the vehicle as well as for controlling the transducers.

FIG. 4 is an illustration of the front panel 86 of control unit 62.Control unit 62 is mounted in the cab or passenger compartment oftractor

such as on the dashboard, for example, and has an outer housing made of,for example, aluminum or a heavy grade durable plastic. Manual masterON/OFF power switch 88 controls the application of power from powersource 66 to control unit 62. When in the ON position, power is coupledfrom power source 66 to control unit 62. Alternatively, the Manualmaster ON/OFF switch may be eliminated and the power coupling occurswhen a user rotates the ignition key to start the vehicle. Master switchON signal such as a light emitting diode (LED) (not shown) isilluminated when power switch 88 is in the ON position. If the automaticmirror rotating function is not desired, Manual Right and Manual Leftpower switches 85, 87 may be utilized by the driver to control operationof the mirrors 32, 34. If the automatic mirror rotating function isdesired, Auto switch 83 is depressed. In this mode, the driver indicatesinitial conditions by depressing the Trailer Length button 81 in the up81 a or down 81 b direction until the display 72 shows the length of thetrailer. Trailer Width switch 79 is provided to initially set the widthtw as either eight or eight and one-half feet. An Unknown Trailer switch77 can also be provided for those situations in which the driver isunaware of the appropriate settings or in those situations where thetrailer has an irregular shape, for example, and the dimensions becomecaptured and recorded by the control unit. The Set switch 75 allows thedriver to confirm a correct input while the Cancel switch 73 allows thedrive to cancel an incorrect input. A Set-Up button 71 is depressed toinform the control unit 62 that initial conditions are being indicated.A Mirror-Heat switch 69 enables, or not, a mirror heating circuit usefulin defrosting foggy or icy mirrors, for example. Finally, a Gearshiftswitch 67 allows the driver to control the mirror in increments or in asweeping fashion. In one embodiment, pressing the Gearshift switch forless than two seconds allows the mirror to execute a five-degree stepfrom its previous position. Conversely, holding the switch longer thantwo seconds sweeps the mirror to a desired or initial position. Theswitches or buttons may embody momentary center-off rocker switches,depress-and-hold, toggle or other. Of course, other control panelarrangements including keypads, pushbuttons, joysticks, and the like maybe utilized and the invention is not limited in this respect. Othermirror positioning functions such as up/down tilt may also be provided,if desired.

FIG. 5 illustrates one embodiment of a mirror 32 and its respectivedrive unit 78. Mirror 32 is mounted in mirror housing 98 at its lowerend by bottom mirror drive axle 100, retaining nut 102, washer 104, andgreased seal bearing 106. At its upper end, mirror 32 is mounted inmirror housing 98 by top mirror drive axle 108, retaining nut 110,washer 112, and greased seal bearing 114. Alternatively, a common driveaxle could replace the two top and bottom drive axles 100, 108. Driveunit 78 is mounted on top mirror drive axle 108 by mounting brackets 116and controls the rotation of mirror 32. Mirror 32 rotates on bottommirror drive axle 100 and top mirror drive axle 108. FIG. 6 illustratesone preferred range of motion of mirror 32 within mirror housing 98. Ofcourse, the details of the mirror and drive unit described above are forillustrative purposes, and many different mirrors and drive units withand without mirror housings may be utilized. Mirror 34 and drive unit 80may be similarly arranged. In alternate embodiments, the mirror maybecome modified such that it includes both a stationary mirror part anda rotatable mirror part. In accordance with this aspect of theinvention, a driver is provided with both a view obtained when therotatable mirror part is rotated in accordance with an angle between thetractor and the trailer as well as a view from un-rotated or stationarymirror parts. Such bifurcated mirror designs are known.

In order to effect appropriate rotation of mirrors 32 and 34, controlcircuit 74 monitors the angle between tractor 15 and trailer 20. If thisangle exceeds a predetermined angle such as three degrees, for example,during execution of a turning maneuver, control circuit 74 generatesmirror control signals for controlling the rotation of mirror(s) 32, 34.The above-mentioned predetermined angle defines a so called null zone inwhich no mirror rotation is effected and is provided to prevent minorsteering corrections or simple lane changes from causing rotation of themirrors. The null zone setting is configurable and may be set in memory76 at the factory or by the driver using the rocker switches of thecontrol panel. The null zone may of course be set to zero whereby mirrorrotation is effected at all angles of the tractor and trailer. Based onthe angle between tractor

and trailer 20 and other information, such as the length of trailer 20,an appropriate angle for rotating mirror(s) 32, 34 may be determined.Control circuit 74 then generates mirror control signals for effectingthe mirror rotation and supplies the mirror control signals to thestepper- or servo-motors, or DC motors of drive units 78, 80 which drivethe rotation of mirrors 32, 34, respectively. After the turn is completeand the angle between tractor 15 and trailer 20 returns to a value inthe “null zone,” the mirrors 32, 34 are rotated to their initialstraight-viewing or zero position.

During use, with respect to transducers 1-6, the control circuit 74activates appropriate transducers of the transducer bar using transducercontrol signals. The transducer control signals from control circuit 74are emitted for example, at a rate of about one hundred times persecond, and are changed (“transduced”) by the transducers intoultrasonic sound waves having a speed of approximately 746 miles perhour. Based on the time it takes for ultrasonic sound waves to bereflected or echoed back and detected by the transducers, controlcircuit 74 calculates the distances and angles between the respectivetransducers and the object which reflected the waves.

In a preferred embodiment, the operation of the transducers iscontrolled and timed by control circuit 74. With reference to FIG. 7, asingle transducer, number 1 for example, is activated for a first shortperiod of time by a pulse from control circuit 74. This pulse isconverted into sound waves as discussed above and transmitted by thetransducer for the first short period of time. The sound waves appearfirst as waves 19 outgoing from the transducer. After the outgoing wavesimpact the front panel 46 of the trailer 20, for example, the waves areconverted into reflected or return waves 21. The reflected waves arereceived by each of the transducers 1-6 of the transducer bar 38, butquite unlike the prior art, the control circuit 74 will only process thewave returned to the transducer which emitted it, e.g., transducer 1 inthis example. Thereafter, the control circuit 74 causes transducer 1 tostop emitting and adjacent transducer 2 to emit. Processing then onlyoccurs on waves returned exclusively to transducer 2. In sequence, thecontrol circuit individually causes transducers 3, 4, 5 and 6 to emitoutgoing waves of which processing only occurs on waves returned to theactive or emitting transducer. Thereafter, the emitting of waves andprocessing of reflected waves occurs all over again in the same pattern.As a result, each transducer receives only the sound waves which it hastransmitted, and distortion of the signal due to the operation of othertransducers is eliminated. Further, because the transmission andreceiving periods for each transducer are very short, interference fromexternal sources is minimized. Distortion due to the operation of othertransducers may also be reduced by using transducers which generateultrasonic signals having different frequencies.

In a preferred embodiment, the time between activation of one transducerbefore activation of the adjacent transducer is 10 msec and theactivation occurs for a period of time not to exceed 10 msec. With sixtotal transducers it takes about 60 msec to sequentially activate eachof transducers 1, 2, 3, 4, 5 and 6. Of course, different time sequencingis considered within the scope of this invention as is differentpatterns of creating outgoing waves. For example, instead of activatingtransducers in order from transducer 1 to transducer 6, it could occurin order from transducer 6 to transducer 1. It could also occur in anyorder. To eliminate or reduce false signals that potentially occur whenreflected waves 21 impact the surface 37 of the transducer bar, thesurface 37 may become roughened or angled to scatter the waves. As willbe described in detail below, bear in mind that the front panel 46 ofthe trailer 20 will turn relative to the orientation of the tractor15/transducer bar 38 during use and the above processing will enableangular calculations to be obtained between the trailer and tractor.

With reference to FIG. 8, the transducer bar 38 of the preferredembodiment has a substantially linear longitudinal extent of about 52inches in the length dimension and the transducers are arrangedsubstantially linearly thereon. The transducers are also arranged in asubstantially symmetrical orientation (e.g., mirror-image) with respectto its centerline CL. In this manner, the transducer bar is relativelyeasily manufactured.

In one preferred embodiment, the centerline of transducers 1 and 6reside about 25.87 inches from the centerline CL and substantiallyoccupy the distal ends 81, 83 of the transducer bar. The centerlines oftransducers 2 and 5 reside about 21.45 inches from the centerline CL.The centerlines of transducers 3 and 4 reside about 0.841 inches fromthe centerline CL. In other embodiments, transducers 3 and 4 exist about1.125 inches from the CL.

Skilled artisans will further appreciate that although the transducersare symmetrically arranged, transducers on the same side of thecenterline have substantially dissimilar orientations, especiallyangular orientation, in comparison to adjacent transducers. In thismanner, more robust readings/information about the angular orientationbetween the tractor and trailer can be obtained with as relatively fewtransducers as possible. Even further, those skilled in the art willobserve that the innermost transducers 3 and 4 angle opposite, relativeto the centerline, in comparison to the outermost transducers 1 and 6 aswell as the intermediate transducers 2 and 5.

In another embodiment, the transducers 1 and 6 are positioned at about a56 degree angle relative to the surface 37 of the transducer bar 38 andangle toward the centerline CL. Transducers 2 and 5, much closer indistance to the outermost transducers than the innermost transducers,are positioned at about 69 degrees and also angle toward the centerlineCL. Transducers 3 and 4 are positioned at about 83 degrees and angleaway from the centerline CL. They also perform best if positioned asclose to the centerline CL as reasonably possible.

In other embodiments, the transducer bar may only have four totaltransducers thereon. Preferably, such is accomplished by eliminatingtransducers 2 and 5. Conversely, the invention also contemplates morethan six total transducers and such additional transducers would likelyoccupy a position between transducers 2 and 3 and between transducers 4and 5. In such situations, the transducers would preferably angle towardthe centerline and do so more or less steeply than the innermosttransducer. In general, however, more computational accuracy is obtainedwith more transducers, yet such occurs at a cost of additionalprocessing time and memory. In all embodiments, preferred transducerseach have a beamwidth BW of approximately 25 degrees (asrepresentatively shown in planar view with regard to transducer 6) andare preferably suited for both wet and dry use so as to be operable invarying weather conditions. Commercially available transducers such asthose used for determining depth may be utilized.

Representative transducers are manufactured, for example, by POLAROID asa series 9000 piezo transducer having item number PID618416. As anexample, a transducer 140 useful with the invention can be seen in FIG.14. Apertures 142 exist about the transducer periphery for insertingmechanical fasteners to secure or attach the transducer to thetransducer bar 38. An area 144 corresponds generally to that surface ofthe transducer that emits or transmits an outgoing wave of energy and,upon reflection from the trailer, receives the return wave. In thismanner, a single transducer can both transmit and receive signalswithout needing to operate in conjunction as a pair with anothertransducer whereby one transducer of the pair transmits signals whilethe other transducer receives signals. During use, area 144 is orientedtoward the front panel of the trailer while bottom 146 is typicallygrounded to or touching an interior of a housing 151 (FIG. 8, forexample). The housing 151, in turn, is secured by fasteners 153 to thetransducer bar and angularly holds the transducers in place relative tothe generally planar surface 37 (FIG. 7, FIG. 8) of the transducer bar.

With reference to FIG. 9, the general method for rotating any of themirrors 32, 34 in accordance with an angular deviation between a tractor

and a trailer 20 occurs first by calibrating the transducers S10. Aftercalibration, the angle between the tractor and trailer is calculatedS12. A mirror position relative to a desired zero position set by thedriver is then calculated at step S14. Finally, the mirror(s) areadjusted S16. Hereinafter, each of these steps will be described in moredetail.

First, to calibrate the transducers S10, and with reference to FIG. 10,a driver of the vehicle 10 brings the front panel 46 of the trailer 20into a generally parallel relationship with the transducer bar 38. Inother words, the driver creates a zero degree angle between the tractor15 and trailer 20.

Next, the angle α and straight-line distance R of each of thetransducers (not shown) of the transducer bar 38 relative to the fifthwheel 22 (king-pin) are calculated. Since the transducer bar issymmetrical, calculations need only be accomplished for three of the sixtransducers with their results being replicated for the remaining threetransducers. In this example, calculations for transducers 1, 2 and 4will be undertaken with their results being applicable to transducers 6,5 and 3, respectively.

The angle between the transducer 4 and the fifth wheel pivot 22(king-pin) is shown as α4. Likewise, the angles between the transducers1 and transducers 2 relative to the king-pin are shown as α1 and α2,respectively. The straight-line distances for the transducers 1, 2 and 4are shown as R1, R2, and R4, respectively. The value DIST (below)corresponds to the Ho distance plus the F distance. In this example, theHO represents that distance from the transducer bar to the front panel46 of the trailer while the F distance represents that distance,perpendicularly, from the front panel 46 to the king-pin. Usually, the Fdistance is about 36 inches.

Mathematically, and based on standard geometric principles, therelationships are further defined as follows:DIST=Ho+F;α4=a tan(0.841/DIST);α2=a tan(21.45/DIST);α1=a tan(25.87/DIST);R4=0.841/sin(α4);R2=21.45/sin(α2);R1=25.87/sin(α1); and

wherein the numbers 0.841, 21.45 and 25.87 represent the distance ininches between the centerline CL of the transducer bar 38 and thecenterline of the transducers 4, 2 and 1, respectively, as previouslyshown in FIG. 8. Of course, if the transducers had different distancesto the centerline CL, the equations above would change accordingly.

With reference to FIG. 11, and appreciating that the tractor 15 haspivoted some angle during use with respect to the trailer 20, the angleof the tractor relative to the trailer will be determined as shown atstep S12, FIG. 9. As illustrated, the tractor 15 has pivoted leftwardabout sixty degrees although the amount is unknown at this time to thecontrol unit 62. The angle θ will now represent how much each transducerhas pivoted and such can be calculated. Specifically, the angle θ ofeach of the transducers relative to their initial calibration is asfollows (appreciate, however, only angles θ will be shown fortransducers 1, 4, 6 and 3):θ4=a cos(t4+F)/R4;θ1=a cos(t1+F)/R1;θ6=a sin(t6+0.5*tw)/R1;θ3=a sin(t3+0.5*tw)/R4;

wherein the variables t1, t3, t4 and t6 correspond to the respectivetime it takes an outgoing wave of energy to return to the transducerfrom which emitted it as previously described in relation to FIG. 7.

Once the angles θ have been calculated, the angle of the tractorrelative to the trailer, as determined by each of the transducersbecomes calculated by adding or subtracting the angle θ with the angle αin accordance with the formulas:

When the tractor is at a positive direction (e.g., right turn):Trailer angle calculated by transducer 4: Trailer_angle4=(θ4−4);Trailer angle calculated by transducer 2: Trailer_angle2=(θ2+α2);Trailer angle calculated by transducer 1: Trailer_angle1=(θ1+α1);Trailer angle calculated by transducer 6: Trailer_angle6=(θ6−θ1);Trailer angle calculated by transducer 5: Trailer_angle6=(θ5−α2); andTrailer angle calculated by transducer 3: Trailer_angle3=(θ3+α4).

When the tractor is at a negative direction (e.g., left turn):Trailer angle calculated by transducer 4: Trailer_angle4=(θ4+α4);Trailer angle calculated by transducer 5: Trailer_angle5=(θ5+α2);Trailer angle calculated by transducer 2: Trailer_angle2=(θ2−α2);Trailer angle calculated by transducer 1: Trailer_angle1=(θ1−α1);Trailer angle calculated by transducer 6: Trailer_angle6=(θ6+α1); andTrailer angle calculated by transducer 3: Trailer_angle3=(θ3−α4).

Therefore, at any given tractor-trailer position, there will be sixcalculated results (corresponding one-to-one with each of thetransducers 1-6 of the transducer bar 38) representing thetractor-trailer angles. Some of the calculations may give a negativevalue and some may be larger than 90 degrees which are apparently notvalid results and are discarded.

After calculating the above six angles, software in the control unitwill use a series sequence routine of judgment to finally decide whichcalculated angle will be used as the “real” or “actual” trailer angle atany given position. As an example, consider the following preferredsequence:

1) If (0<Trailer_angle4<16) then assign Trailer_angle4 as the actualtrailer angle;

2) If (17<Trailer_angle1<50) then re-assign Trailer_angle1 as the actualtrailer angle even if the previous value has been assigned byTrailer_angle4 because this statement comes later and has higherpriority;

3) However, if (Trailer_angle1<17) or (Trailer_angle1>50), the actualtrailer angle maintains its previously assigned value, which isTrailer_angle4 in this case; and

4) If (16<Trailer_angle2<22) then re-assign Trailer_angle2 as the actualtrailer angle, otherwise trailer angle remains unchanged.

The sequencing continues through all six calculated results. Eventually,there should be at least one valid value that is finally assigned as theactual trailer angle.

In general, throughout a 90 degree turn either side of center (“center”referring to the tractor and trailer having a zero angle), more than oneof transducers 1-6 is opposite a surface portion of front panel 46 oftrailer 20, whereby an echo or reflected wave will be returned. However,not every surface portion from which an echo can be “bounced” will havesufficient linear movement towards or away from the transducer toresolve increments of the turning motion. For example, reflections fromsurface portions located near the pivot point (king pin) are less usefulfor determining the angle between tractor 15 and trailer 20 since thelinear movement of these portions changes very little per degree ofturning. Accordingly, the transducers used in the angle determinationshould be arranged such that at all angles of interest there is at leastone transducer which is opposite a surface portion of front panel 46 oftrailer 20 having sufficient linear motion to resolve increments ofturning motion.

With reference to FIG. 12, and appreciating the next step in the flowdiagram of FIG. 9 relates to step S14, calculating mirror position, thegeometry between left and right mirrors 32, 34 of a tractor and atrailer 20 is as follows:

Angle αo corresponds to the angle between the mirror line, between theleft and right mirrors 32, 34, and the driver-sight line, between thedriver's position X and the right mirror 34 (or left mirror 32 if thedriver is turning left). Skilled artisans will appreciate that thedistances of the mirror line and the driver sight line are fixed andmeasurable as is the distance of the line 101 from the driver's positionX, perpendicularly, to the mirror line;

Thereafter, variable K corresponds to K=(0.5*tw)*(tan(90-angle); whereinthe variable angle is that angle previously calculated between thetractor and the trailer.

Once K is known, variable d is determined as distance F (FIG. 10),typically 36 inches, minus K or d=F−K or 36−K;

Then, variable e and h are calculated as e=d*cos (angle) while h=d*sin(angle), wherein variable h is that line from the corner 99 of thetrailer perpendicularly drawn to the “Perpendicular Line” describedbelow; variable e is that line segment of the Perpendicular Line fromthe right panel 45 of the trailer to the variable h intersection point;

Perpendicular Line, which always extends from the king-pin 22perpendicularly to the mirror line (alternatively, the PerpendicularLine is defined as variable “fifth” below in the equations because itextends from the “fifth-wheel” or king pin to the mirror line), has aportion, m, thereof that extends from the king-pin 22 to the right panel45 of the trailer and is defined as m=(0.5*tw)/sin(angle);

The variables “vert” line, parallel to the perpendicular line andextending from the corner point 99 of the trailer to the mirror line,and “horiz” line, on the mirror line from the vert intersection 100 tothe mirror 34, are found in order to calculate the angle φ.Specifically, vert=fifth−e−m while horiz=12+0.5*tw+h, wherein “12” is adistance in inches corresponding to a distance from position 111 minus ½tw; the angle φ then becomes φ=a tan(vert/horiz).

The “corner” line, from trailer corner 99 to the right mirror 34, thenbecomes corner=vert/sin φ;

Angle θ, although not the previously defined angle of the transducers,becomes θ=90−angle+φ;

The “back” line, from right mirror 34 to the position back trailercorner 113, equates to back=sqr (corner₂+tL²−2*corner*tL*cos(θ));

In turn, γ=a cos((corner₂−tL²+back²)/2*corner*back));

Finally, the angle of “mirror” (the right mirror 34 in this example) isto be adjusted relative to the driver's set zero position (step S 16,FIG. 9) by an amount according to the equation mirror=(γ+φ−αo)/2+90.

Accordingly, skilled artisans will now appreciated that the transducersystem as illustrated in FIGS. 7 and 8 enables control circuit 74 tosimply, while efficaciously, calculate the angle of trailer 20 relativeto tractor 15 based on the distances between the back of tractor 15 andfront panel 46 of trailer 20 as determined by transducers 1-6 withoutthe assistance of any look-up tables. It will also function regardlessof the distance Ho between the transducer bar 38 and the front panel 46of the trailer 20.

Once the variable “mirror” is found, mirror control signals forcontrolling mirrors 32, 34 are generated by control circuit 74. Thesecontrol signals are supplied to drive units 78 and 80 for appropriatelycontrolling rotation of mirrors 32, 34. The signals are supplied to theappropriate driver units in a very short period of time, for example, ata rate of approximately eleven times per second, thereby permittingprecise movement of the mirrors. The system of the instant invention mayalso be set up so that when the tractor-trailer is turned in onedirection, both mirrors turn. In which case, for example, in turningleft, the left mirror rotates to enable viewing the rear of the vehiclewhile the right mirror rotates to some desired location to allow thedriver to view that area of the trailer to the side of the right panelof the trailer. Alternatively, the system may be set up so that during aleft turn, only the left mirror rotates, and during a right turn, onlythe right mirror rotates. The control circuit 74 may further include awarning routine which generates a warning signal, for example an audiblewarning signal via a speaker, when the angle between tractor 15 andtrailer 20 is ninety degrees or approaching it and the tractor andtrailer are in jeopardy of a “jackknife” orientation. The audiblewarning may be a voice warning such as “Warning! The trailer is in ajackknife position.” The voice chip 136 (FIG. 13) may be used in thisregard. In addition or alternatively, a visual warning of the jackknifeposition may be provided on display 72.

Control circuit 74 follows trailer 20 through its full range of 180degrees relative to tractor 15. In the event the transducers determinethat no trailer is hooked up to tractor 15, control circuit 74preferably automatically resets mirrors 32 and 34 to the normal or zeroposition. The transducers may also be disabled by moving power switch 88to the OFF position when no trailer is attached to the vehicle.Furthermore, any malfunction of the transducers or other componentsresults in control circuit 74 returning and maintaining the mirrors inthe neutral position until the faulty part is repaired. The transducersthus generate appropriate control signals for rotating a mirror topermit viewing down the length of a trailer towards a dock or a loadingarea.

It will be recognized that although a tractor-trailer containing thetransducers has been described above, the instant invention is in no waylimited in this respect. Thus, a tractor-trailer may utilize any one ormore of the transducers to rotate a safety spotlight (not shown) to adesired area or effectuate any other safety or other measure.

Although the above embodiments are described in terms of usingultrasonic waves, the invention is not limited in this respect and otherwaves of different frequencies may be used.

The United States patents referenced above are hereby incorporated byreference into this application in their entirety. Numerouscharacteristics and advantages of the invention have been described indetail in the foregoing description with reference to the accompanyingdrawings. However the disclosure is illustrative only and the inventionis not limited to the precise illustrated embodiments. Various changesand modifications may be affected therein by one skilled in the artwithout departing from the scope and spirit of the invention.

1. A system for calculating an angle between an articulated tractor andtrailer, comprising: a plurality of transducers arranged on said tractorsubstantially symmetrically about a centerline of a substantiallystraight line and oriented towards said trailer, each transduceroperable to transmit and receive signals and having an angularorientation substantially dissimilar to adjacent transducers of saidplurality of transducers on a same side of said centerline; and acontrol circuit operative to control said plurality of transducers todetermine said angle, wherein said control circuit sequentiallyactivates ones of said plurality of transducers such that only a singletransducer of said plurality of transducers transmits signals at anygiven time and said control circuit only processes a return signalreceived by an emitting transducer.
 2. The system of claim 1, whereinsaid tractor has a rotatable side view mirror and further including adrive unit for rotating said rotatable side view mirror based on thedetermined angle.
 3. The system of claim 1, wherein said plurality oftransducers are arranged on a transducer bar, said transducer barattached to said tractor.
 4. The system of claim 1, wherein saidplurality of transducers equals six in number.
 5. The system of claim 1,wherein said control circuit is operable when said tractor and saidtrailer are separated in a range from about 40 to about 53 inches whensaid angle is a zero degree angle.
 6. The system of claim 1, whereinsaid each transducer transmits signals in a beamwidth of abouttwenty-five degrees.
 7. The system of claim 1, wherein said plurality oftransducers equal six in number and are arranged on a transducer bar,said transducer bar attached to said tractor.
 8. The system of claim 7,wherein two transducers of said plurality of transducers each occupy aterminal end of said transducer bar.
 9. The system of claim 8, whereinsaid two transducers each have an angular orientation with saidtransducer bar of about fifty-six degrees.
 10. The system of claim 7,wherein two transducers of said plurality of transducers each existsubstantially near said centerline.
 11. The system of claim 10, whereinsaid two transducers each have an angular orientation with saidtransducer bar of about eighty-three degrees.
 12. A method ofcalculating an angle between an articulated tractor and trailer,comprising: arranging a plurality of transducers on said tractorsubstantially symmetrically about a centerline of a substantiallystraight line, each transducer having an angular orientationsubstantially dissimilar to adjacent transducers of said plurality oftransducers on a same side of said centerline; orienting said pluralityof transducers towards said trailer such that each transducer isoperable to transmit signals to said trailer and receive signalsreflected from said trailer; controlling said plurality of transducersto sequentially activate such that only a single transducer of saidplurality of transducers is transmitting at any given time, said singletransducer being an emitting transducer; processing signals receivedonly by said emitting transducer; and calculating said angle.
 13. Themethod of claim 12, wherein said tractor has a rotatable side viewmirror, further including rotating said side view mirror in accordancewith said calculated angle.
 14. The method of claim 12, wherein saidcontrolling said plurality of transducers further includes activatingsaid emitting transducer for about 10 msec.
 15. The method of claim 12,wherein said arranging said plurality of transducers on said tractorfurther includes arranging said plurality of transducers on a transducerbar.
 16. The method of claim 15, further including attaching saidtransducer bar to said tractor.
 17. The method of claim 15, furtherincluding arranging two transducers each at a terminal end of saidtransducer bar and arranging two transducers substantially near saidcenterline.
 18. The method of claim 17, further including arranging saidtwo transducers at said terminal ends with an angular orientationrelative to said transducer bar of about fifty-six degrees.
 19. Themethod of claim 17, further including arranging said two transducersnear said centerline with an angular orientation relative to saidtransducer bar of about eighty-three degrees.
 20. The method of claim12, further including calibrating said plurality of transducers.
 21. Themethod of claim 12, further including calculating a mirror position of arotatable side view mirror of said tractor.
 22. The method of claim 21,further including rotating said rotatable side view mirror from a zeroposition by an amount equivalent to said mirror position.